CN213081497U

CN213081497U - A parcel material taking manipulator for electronic commerce product quality selective examination

Info

Publication number: CN213081497U
Application number: CN202022125631.XU
Authority: CN
Inventors: 蒋宏; 章建方; 刘洋; 孙广芝
Original assignee: Hangzhou National E-Commerce Product Quality Monitoring And Disposal Center; China National Institute of Standardization
Current assignee: Hangzhou National E-Commerce Product Quality Monitoring And Disposal Center; China National Institute of Standardization
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2021-04-30
Anticipated expiration: 2030-09-24

Abstract

The utility model discloses a parcel material taking manipulator for spot check of electronic commerce product quality, including first connecting rod, second connecting rod, third connecting rod and fourth connecting rod, the bottom of first connecting rod, second connecting rod, third connecting rod and fourth connecting rod all is equipped with a row of sucking discs, the outside of first connecting rod and third connecting rod all is equipped with first sensor, the outside of second connecting rod and fourth connecting rod all is equipped with the second sensor; the rectangular frame is provided with a switching column, and the switching column is provided with a first linkage mechanism and a second linkage mechanism; the device also comprises a controller. The utility model discloses the cooperation is picked up the device and is used, can pick up not unidimensional parcel, can guarantee to absorb the edge position that the position lies in the parcel, guarantees that the carton is not pulled and is out of shape to be applicable to the seller and use, the parcel gets into and leaves the transfer chain available the utility model discloses the cooperation is picked up the device and is operated to it is skilled to reduce the workman of selective examination, reduces the selective examination cost.

Description

A parcel material taking manipulator for electronic commerce product quality selective examination

Technical Field

The utility model belongs to electronic commerce product quality selective examination field especially relates to a parcel feeding manipulator for electronic commerce product quality selective examination.

Background

The utility model discloses in the electronic commerce product be the product that is used for the internet to sell and packs with the carton, the carton length and width height all does not exceed 0.5m, weight is no longer than 10 kg. With the development of the e-commerce industry, the sale quantity and the variety of e-commerce products are larger and larger, the quantity of defective products is larger and larger, and the e-commerce products generally have the problem of difficult after-sale due to the larger geographical distance between buyers and sellers, so the quality of the e-commerce products is more important, otherwise, the seller is subjected to great after-sale pressure, the seller can carry out spot check on the e-commerce products with large sales volume, the spot check qualification rate reaches a certain standard, the e-commerce products can be put on the market, and otherwise, the e-commerce products are returned to the manufacturer.

The existing extraction and inspection method is that packages (including cartons, products, specifications, accessories and the like) from a manufacturer are unloaded, the packages are placed on a tray to form a plurality of stacks, then the stacks are extracted randomly, and the stacks are conveyed to one side of an annular conveying belt by a forklift for preparation of inspection. The parcel on the stack is put on the conveyer belt one by a workman, have several workman to distribute along the conveyer belt in addition, the parcel on the conveyer belt is examined, whether the accessory in the main spot check parcel is complete, whether the product is normal, whether the description has the hourglass to put etc. according to the corresponding increase and decrease of the spot check workman number on the conveyer belt of the spot check quantity of parcel, if the parcel of examining is qualified, repack and put back the transfer chain, otherwise deposit in addition, the parcel of repacking passes through the conveyer belt and transmits another department, take off and newly form a plurality of stacks by the workman of another department, the qualification rate of the parcel of statistics spot check. If the qualified rate of the spot check reaches the standard, warehousing all the packages of the goods, except the unqualified goods detected by the spot check, and preparing to put on the market; and if the spot inspection qualified rate does not reach the standard, returning all the packages of the arrived goods.

Because the existing sampling inspection method is to manually place the packages on the conveying line and manually take the packages off the conveying line, the packages enter and leave the conveying line and need two workers to operate, the requirement on the number of the workers is high, and the labor cost of sampling inspection is high.

There is also a pickup attachment in the market, is equipped with the manipulator of sucking disc formula on the pickup attachment, and pickup attachment can drive the manipulator level and reciprocate to can be with each parcel on the manipulator accurate positioning stack, and the successive layer is taken off in turn and is put on the conveying line, otherwise also can take off the parcel from the conveying line and automatic pile up neatly forms the stack again on the tray through the manipulator. The pick-up device is very suitable for transferring the packages to the conveying line and reforming the packages on the conveying line into a stack in the sampling link, but the used mechanical hands are different due to different sizes of the packages corresponding to each product. For example, when small-size packages are subjected to spot inspection, a small-size manipulator is used, otherwise the suction range of the manipulator exceeds the top surface of the package, the adjacent packages are sucked, the adjacent packages are subjected to position deviation, the packages with the position deviation cannot be positioned by a pickup device subsequently, cannot be taken away by the manipulator, and cannot be automatically picked up; when the size of the package is checked in a sampling mode, if the size of the mechanical arm is too small, the suction position of the mechanical arm is located in the center of the package, and the center of the package generally corresponds to the position of a cavity of the package, so that the carton can be pulled and deformed. Therefore, the pick-up device is only used in factories for picking up packages of different sizes, and is not suitable for sellers to use, and the sellers lack the capability of replacing the mechanical arm.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a parcel gets material manipulator for electronic commerce product quality selective examination. The utility model discloses the cooperation is picked up the device and is used, can pick up not unidimensional parcel, can guarantee to absorb the edge position that the position lies in the parcel, guarantees that the carton is not pulled and is out of shape to be applicable to the seller and use, the parcel gets into and leaves the transfer chain available the utility model discloses the cooperation is picked up the device and is operated to it is skilled to reduce the workman of selective examination, reduces the selective examination cost.

The technical scheme of the utility model: the parcel taking manipulator for the spot inspection of the quality of electronic commerce products comprises a rectangular frame consisting of a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are square tubes, the bottoms of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are respectively provided with a row of suckers for being connected with vacuum equipment, the outer sides of the first connecting rod and the third connecting rod are respectively provided with a first sensor, and the outer sides of the second connecting rod and the fourth connecting rod are respectively provided with a second sensor;

the rectangular frame is provided with a transfer column on the central axis, the transfer column is provided with a first linkage mechanism and a second linkage mechanism, the first linkage mechanism can drive a first connecting rod and a third connecting rod to move in opposite directions, and the second linkage mechanism can drive a second connecting rod and a fourth connecting rod to move in opposite directions;

the vacuum device, the first sensor, the second sensor, the first linkage mechanism and the second linkage mechanism are all connected with the controller.

In the aforesaid a parcel material manipulator of getting for electronic commerce product quality selective examination, first link gear is including two first motors that are located the switching post both sides respectively, and first motor is two output shaft step motor, and first motor is connected with the controller, and two outputs of first motor all are equipped with first screw rod, are equipped with first nut on the first screw rod, and first nut is fixed with first connecting rod or third connecting rod through first keysets.

In the aforesaid a parcel material manipulator of getting for e-commerce product quality selective examination, the second linkage includes the second motor of being connected with the switching post, and the second motor is two output shaft step motor, and the second motor is connected with the controller, and two outputs of second motor all are equipped with the second screw rod, are equipped with the second nut on the second screw rod, and the second nut passes through the second keysets and fixes with third connecting rod or fourth connecting rod.

In the aforesaid a parcel material manipulator of getting for electronic commerce product quality selective examination, one row of sucking disc includes two outside sucking discs, be equipped with two at least inboard sucking discs between two outside sucking discs, be equipped with the guide block on the outside sucking disc, the guide block is located first connecting rod, the second connecting rod, third connecting rod or fourth connecting rod, first connecting rod, the second connecting rod, third connecting rod and fourth connecting rod all are equipped with the slot hole that runs through from top to bottom on the position that corresponds the guide block, the both ends of first connecting rod and third connecting rod are equallyd divide and are do not be equipped with two first supports of being connected with the outside sucking disc on second connecting rod and the fourth connecting rod, the both ends of second connecting rod and fourth connecting rod are equallyd divide and do not are equipped with two second supports of being connected with the outside sucking disc on first connecting.

In the aforesaid a parcel material manipulator of getting for e-commerce product quality spot check, the upper end of outside sucking disc is equipped with the first trachea that passes the slot hole, the upper end of inboard sucking disc is equipped with the second trachea that passes first connecting rod, second connecting rod, third connecting rod or fourth connecting rod, and first trachea and second trachea all are connected with vacuum apparatus.

In the parcel taking manipulator for the spot inspection of the quality of electronic commerce products, the second adapter plate is fixed to the middle of the third connecting rod or the fourth connecting rod, the adapter column is provided with the through hole, and the second motor is fixed in the through hole.

In the wrapping and taking manipulator for the quality spot check of the electronic commerce products, the outer sides of the first connecting rod and the third connecting rod are respectively provided with a first slide rail, and the first slide rail is provided with two first slide blocks which are respectively fixed with the second connecting rod and the fourth connecting rod; and the outer sides of the second connecting rod and the fourth connecting rod are both provided with second sliding rails, and the second sliding rails are provided with two second sliding blocks which are respectively fixed with the first connecting rod and the third connecting rod.

Compared with the prior art, the utility model discloses the cooperation is picked up the device and is used, drives four connecting rods through two link gear and removes, makes the sucking disc on the connecting rod can aim at the parcel top surface of unidimensional not and absorb, thereby makes the utility model discloses can be used to picking up of unidimensional parcel and getting, and absorb the position and lie in near the outside edge of parcel to guarantee carton non-deformable, pick up and get the in-process and can not destroy the parcel. The utility model discloses can also guarantee all to have two sucking discs to adsorb on four edges and corners of parcel top surface all the time, the edges and corners department of parcel is the firmest position of parcel, and the least easy deformation that takes place is from this further guaranteed that the parcel can not destroyed picking up the in-process. Furthermore, the utility model discloses compact structure, stability are strong, and the success rate of picking up is high.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a front view at the outer suction cup.

Fig. 3 is a schematic view of fig. 2 at a-a.

The labels in the figures are: 1-a first connecting rod, 2-a second connecting rod, 3-a third connecting rod, 4-a fourth connecting rod, 6-a first sensor, 7-a second sensor, 8-an adapter column, 9-a controller, 10-a first motor, 11-a first screw, 12-a first nut, 13-a first adapter plate, 14-a second motor, 15-a second screw, 16-a second nut, 17-a second adapter plate, 18-an outer suction cup, 19-an inner suction cup, 20-a guide block, 21-a long hole, 22-a first bracket, 23-a second bracket, 24-a first air pipe, 25-a second air pipe, 26-a through hole, 27-a slide rail, 28-a slide block, 29-a second slide rail and 30-a second slide block.

Detailed Description

The following description is made with reference to the accompanying drawings and examples, but not to be construed as limiting the invention.

Examples are given. A parcel material taking manipulator for spot inspection of quality of electronic commerce products, as shown in fig. 1, comprising a rectangular frame composed of a first connecting rod 1, a second connecting rod 2, a third connecting rod 3 and a fourth connecting rod 4, wherein the first connecting rod 1, the second connecting rod 2, the third connecting rod 3 and the fourth connecting rod 4 are square tubes, the bottoms of the first connecting rod 1, the second connecting rod 2, the third connecting rod 3 and the fourth connecting rod 4 are all provided with a row of suckers connected with vacuum equipment (not shown), the outer sides of the first connecting rod 1 and the third connecting rod 3 are both provided with a first sensor 6, and the outer sides of the second connecting rod 2 and the fourth connecting rod 4 are both provided with a second sensor 7; the first sensor 6 and the second sensor 7 are both distance sensors;

the central axis of the rectangular frame is provided with a switching column 8, the switching column 8 is provided with a first linkage mechanism and a second linkage mechanism, the first linkage mechanism can drive the first connecting rod 1 and the third connecting rod 3 to move oppositely, and the second linkage mechanism can drive the second connecting rod 2 and the fourth connecting rod 4 to move oppositely;

still include controller 9, controller 9 is fixed with one side of switching post 8, and vacuum apparatus, first sensor 6, second sensor 7, first link gear, second link gear all are connected with controller 9.

First link gear is including two first motors 10 that are located the 8 both sides of switching post respectively, and first motor 10 is two output shaft step motor, and first motor 10 is connected with controller 9, and two outputs of first motor 10 all are equipped with first screw rod 11, and the screw thread that is located two first screw rods 11 on two outputs of first motor 10 revolves to opposite, is equipped with first nut 12 on the first screw rod 11, and first nut 12 is fixed with first connecting rod 1 or third connecting rod 3 through first switching board 13.

The second linkage mechanism comprises a second motor 14 connected with the switching column 8, the second motor 14 is a double-output-shaft stepping motor, the second motor 14 is connected with the controller 9, two output ends of the second motor 14 are respectively provided with a second screw 15, the thread turning directions of the two second screws 15 positioned on the two output ends of the second motor 14 are opposite, a second nut 16 is arranged on the second screw 15, and the second nut 16 is fixed with the third connecting rod 3 or the fourth connecting rod 4 through a second switching plate 17.

One row of sucking disc includes two outside sucking discs 18, be equipped with two inboard sucking discs 19 between two outside sucking discs 18, be equipped with guide block 20 on the outside sucking disc 18, guide block 20 is located first connecting rod 1, the second connecting rod 2, in third connecting rod 3 or the fourth connecting rod 4, first connecting rod 1, the second connecting rod 2, third connecting rod 3 and fourth connecting rod 4 all are equipped with slot hole 21 that runs through from top to bottom on the position that corresponds guide block 20, two first supports 22 of being connected with outside sucking disc 18 on second connecting rod 2 and the fourth connecting rod 4 are equallyd divide at the both ends of first connecting rod 1 and third connecting rod 3, two second supports 23 of being connected with outside sucking disc 18 on first connecting rod 1 and the third connecting rod 3 are equallyd divide at the both ends of second connecting rod 2 and fourth connecting rod 4.

The upper end of the outer side sucker 18 is provided with a first air pipe 24 penetrating through the long hole 21, the upper end of the inner side sucker 19 is provided with a second air pipe 25 penetrating through the first connecting rod 1, the second connecting rod 2, the third connecting rod 3 or the fourth connecting rod 4, and the first air pipe 24 and the second air pipe 25 are both connected with vacuum equipment.

The second adapter plate 17 is fixed to the middle of the third connecting rod 3 or the fourth connecting rod 4, a through hole 26 is formed in the adapter column 8, and the second motor 14 is fixed in the through hole 26.

The outer sides of the first connecting rod 1 and the third connecting rod 3 are both provided with a first slide rail 27, and the first slide rail 27 is provided with two first slide blocks 28 which are respectively fixed with the second connecting rod 2 and the fourth connecting rod 4; and the outer sides of the second connecting rod 2 and the fourth connecting rod 4 are both provided with second slide rails 29, and the second slide rails 29 are provided with two second slide blocks 30 which are respectively fixed with the first connecting rod 1 and the third connecting rod 3.

The working principle is as follows: the utility model discloses the cooperation is picked up the device and is used, replaces the manipulator on the current pickup assembly. The device is connected with a pickup device through a switching column 8, the pickup device adopts a superior UR10 robot, and a controller 9 is connected with a PLC of the pickup device. Will when pickup attachment the utility model discloses remove to the top of waiting the parcel of picking up after, pickup attachment sends first signal to controller 9, and after controller 9 received first signal, send the second signal to first motor 10 and second motor 14.

The first motor 10 is started after receiving the second signal, the first motor 10 drives the first screw rod 11 to rotate, the first screw rod 11 drives the first connecting rod 1 and the third connecting rod 3 to move inwards through the first nut 12 and the first transfer plate 13, and the first connecting rod 1 and the third connecting rod 3 drive the outer suckers 18 on the second connecting rod 2 and the fourth connecting rod 4 to move inwards through the first support 22. When the first connecting rod 1 and the third connecting rod 3 respectively cross two sides of the package and correspond to the top surface of the package, the two first sensors 6 can generate third signals, when the controller 9 receives the two third signals, a fourth signal is sent to the first motor 10, the first motor 10 stops running, and at the moment, the suckers on the first connecting rod 1 and the third connecting rod 3 correspond to the inner sides of two edges of the top surface of the package.

The second motor 14 is started after receiving the second signal, the second motor 14 drives the second screw rod 15 to rotate, the second screw rod 15 drives the second connecting rod 2 and the fourth connecting rod 4 to move inwards through the second nut 16 and the second adapter plate 17, and the second connecting rod 2 and the fourth connecting rod 4 drive the outer suckers 18 on the first connecting rod 1 and the third connecting rod 3 to move inwards. When the second connecting rod 2 and the fourth connecting rod 4 respectively cross the other two sides of the package and correspond to the top surface of the package, the two second sensors 7 can generate fifth signals, when the controller 9 receives the two fifth signals, the controller sends a sixth signal to the second motor 14, the second motor 14 stops running, and at the moment, the suckers on the second connecting rod 2 and the fourth connecting rod 4 correspond to the inner sides of the other two edges of the top surface of the package.

After sending the fourth and sixth signals, the controller 9 sends a seventh signal to the vacuum device and an eighth signal to the pickup device in sequence, and the vacuum device works after receiving the seventh signal, so that all the suckers generate negative pressure, and the packages are fixed on the utility model; the eighth signal of pickup attachment receipt is passed through the utility model discloses take the parcel to another position, then send the ninth signal to the controller, the controller sends the tenth signal, sends the eleventh signal to first motor 10, sends the twelfth signal to second motor 14 to vacuum apparatus in proper order. The vacuum equipment receives the tenth signal to stop working, and the package is put down; the first motor 10 receives the eleventh signal to drive the first connecting rod 1 and the third connecting rod 3 to return to the original positions; the second motor receives the twelfth signal to drive the second connecting rod 2 and the fourth connecting rod 4 to return to the original positions.

The steps are a cycle, and the packages on the stacks are continuously picked up to the conveying line or the packages on the conveying line are picked up to form the stacks. Each conveying line is provided with two manipulators and two picking devices.

The utility model discloses the cooperation is picked up the device and is used, can pick up not unidimensional parcel, can guarantee to absorb the edge position that the position lies in the parcel, guarantees that the carton is not pulled and is out of shape to be applicable to the seller and use, the parcel gets into and leaves the transfer chain available the utility model discloses the cooperation is picked up the device and is operated to it is skilled to reduce the workman of selective examination, reduces the selective examination cost.

Claims

1. A parcel material taking manipulator for electronic commerce product quality selective examination, its characterized in that: the vacuum device comprises a rectangular frame consisting of a first connecting rod (1), a second connecting rod (2), a third connecting rod (3) and a fourth connecting rod (4), wherein the first connecting rod (1), the second connecting rod (2), the third connecting rod (3) and the fourth connecting rod (4) are square tubes, a row of suckers connected with vacuum equipment are arranged at the bottoms of the first connecting rod (1), the second connecting rod (2), the third connecting rod (3) and the fourth connecting rod (4), a first sensor (6) is arranged on the outer sides of the first connecting rod (1) and the third connecting rod (3), and a second sensor (7) is arranged on the outer sides of the second connecting rod (2) and the fourth connecting rod (4);

a switching column (8) is arranged on the central axis of the rectangular frame, a first linkage mechanism and a second linkage mechanism are arranged on the switching column (8), the first linkage mechanism can drive the first connecting rod (1) and the third connecting rod (3) to move oppositely, and the second linkage mechanism can drive the second connecting rod (2) and the fourth connecting rod (4) to move oppositely;

the vacuum device is characterized by further comprising a controller (9), and the vacuum device, the first sensor (6), the second sensor (7), the first linkage mechanism and the second linkage mechanism are all connected with the controller (9).

2. The parcel pick-up robot as claimed in claim 1, wherein: the first linkage mechanism comprises two first motors (10) which are respectively located on two sides of a switching column (8), the first motors (10) are double-output-shaft stepping motors, the first motors (10) are connected with a controller (9), two output ends of each first motor (10) are respectively provided with a first screw (11), each first screw (11) is provided with a first nut (12), and each first nut (12) is fixed with a first connecting rod (1) or a third connecting rod (3) through a first switching plate (13).

3. The parcel pick-up robot as claimed in claim 2, wherein: the second linkage mechanism comprises a second motor (14) connected with the switching column (8), the second motor (14) is a double-output-shaft stepping motor, the second motor (14) is connected with the controller (9), two output ends of the second motor (14) are respectively provided with a second screw (15), a second nut (16) is arranged on the second screw (15), and the second nut (16) is fixed with the third connecting rod (3) or the fourth connecting rod (4) through a second switching plate (17).

4. The parcel pick-up robot as claimed in claim 3, wherein: the row of suckers comprises two outer suckers (18), at least two inner suckers (19) are arranged between the two outer suckers (18), guide blocks (20) are arranged on the outer suckers (18), the guide blocks (20) are positioned in a first connecting rod (1), a second connecting rod (2), a third connecting rod (3) or a fourth connecting rod (4), slot holes (21) which penetrate through the first connecting rod (1), the second connecting rod (2), the third connecting rod (3) and the fourth connecting rod (4) from top to bottom are formed in positions corresponding to the guide blocks (20), two first supports (22) connected with the outer suckers (18) on the second connecting rod (2) and the fourth connecting rod (4) are respectively arranged at two ends of the first connecting rod (1) and the third connecting rod (3), two ends of the second connecting rod (2) and the fourth connecting rod (4) are respectively provided with two second supports (23) connected with the outer side suckers (18) on the first connecting rod (1) and the third connecting rod (3).

5. The parcel pick-up robot as claimed in claim 4, wherein: the upper end of outside sucking disc (18) is equipped with first trachea (24) that pass slot hole (21), the upper end of inboard sucking disc (19) is equipped with second trachea (25) that pass first connecting rod (1), second connecting rod (2), third connecting rod (3) or fourth connecting rod (4), and first trachea (24) and second trachea (25) all are connected with vacuum apparatus.

6. The parcel pick-up robot as claimed in claim 3, wherein: the second adapter plate (17) is fixed with the middle of the third connecting rod (3) or the fourth connecting rod (4), a through hole (26) is formed in the adapter column (8), and the second motor (14) is fixed in the through hole (26).

7. The parcel pick-up robot as claimed in claim 3, wherein: the outer sides of the first connecting rod (1) and the third connecting rod (3) are respectively provided with a first sliding rail (27), and the first sliding rail (27) is provided with two first sliding blocks (28) which are respectively fixed with the second connecting rod (2) and the fourth connecting rod (4); and the outer sides of the second connecting rod (2) and the fourth connecting rod (4) are respectively provided with a second sliding rail (29), and the second sliding rail (29) is provided with two second sliding blocks (30) which are respectively fixed with the first connecting rod (1) and the third connecting rod (3).